Provided is a measurement device comprising an image acquisition unit for acquiring an image of an object to be imaged, a movement mechanism for causing the object to be imaged and the image acquisition unit to move in a relative manner, and a control unit. Due to the movement mechanism, the object to be imaged and the image acquisition unit are caused to move in a relative manner by a known distance in an imaging direction of the image acquisition unit, or in a direction substantially perpendicular to the imaging direction. Due to the image acquisition unit, images of the object to be imaged from before and after movement are acquired. The control unit calculates the imaging-direction distance between the image acquisition unit and the object to be imaged on the basis of an in-image movement distance or length acquired through use of the two acquired images. This makes it possible to measure a distance in a short period of time without an instance of contact with a non-measurement object.